CN104853397A - Wireless sensor network energy consumption control and rate adjustment method - Google Patents
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Abstract
本发明公开一种无线传感器网络能耗控制及速率调整方法,该方法包括:S1、节点Vi向预设的数据管理中心上传自身的状态信息,并从预设的数据管理中心获取预设范围内所有节点的状态信息,得到状态信息表,所述状态信息表包括所述预设范围内所有节点的ID及对应的状态信息;S2、节点Vi根据目的节点ID的位置以及所述状态信息表,确定与所述目的节点的通信路径;S3、节点Vi在接收到向所述目的节点发送消息的信号之后,根据节点传输速率、向目的节点传输数据包的大小以及所述通信路径,得到所述通信路径的能量消耗;S4、节点Vi根据通信路径的能量消耗以及预设的网络正常工作所需求的传输速率,调整节点传输速率,以减少网络能量消耗。
The invention discloses a wireless sensor network energy consumption control and rate adjustment method, the method includes: S1, node V i uploads its own state information to a preset data management center, and obtains a preset range from the preset data management center State information of all nodes in the state information table, the state information table includes IDs and corresponding state information of all nodes in the preset range; S2, node V i according to the position of the destination node ID and the state information table to determine the communication path with the destination node; S3, node V , after receiving the signal to send a message to the destination node, according to the node transmission rate, the size of the data packet transmitted to the destination node and the communication path, Obtaining the energy consumption of the communication path; S4, the node V i adjusts the node transmission rate according to the energy consumption of the communication path and the preset transmission rate required for the normal operation of the network, so as to reduce the network energy consumption.
Description
技术领域technical field
本发明涉及无线通信技术领域,具体涉及一种无线传感器网络能耗控制及速率调整方法。The invention relates to the technical field of wireless communication, in particular to a method for controlling energy consumption and speed of a wireless sensor network.
背景技术Background technique
无线传感器网络(Wireless Sensor Networks,WSN)由具有感知、计算和通信能力的无线传感器节点(简称节点)组成,所有节点通过自组织的方式组成一对多或者多对一的通信网络,把采集到的信息经过一跳或者多跳的方式发送到基站。无线传感器网络在高速铁路运营环境监测中具有广阔的应用前景。但是由于节点能量受限及更换电池不方便等,因此节点使用寿命及无线传感器网络的生命周期在一定程度上制约着无线传感器网络服务质量。Wireless sensor network (Wireless Sensor Networks, WSN) is composed of wireless sensor nodes (referred to as nodes) with perception, computing and communication capabilities. The information is sent to the base station through one or more hops. Wireless sensor networks have broad application prospects in monitoring the operating environment of high-speed railways. However, due to the limited energy of nodes and the inconvenience of replacing batteries, the service life of nodes and the life cycle of wireless sensor networks restrict the service quality of wireless sensor networks to a certain extent.
发明内容Contents of the invention
本发明所要解决的技术问题是现有节点使用寿命及无线传感器网络的生命周期受限影响无线传感器网络服务质量的问题。The technical problem to be solved by the invention is that the service life of the existing node and the limited life cycle of the wireless sensor network affect the service quality of the wireless sensor network.
为此目的,本发明提出一种无线传感器网络能耗控制及速率调整方法,所述方法包括:For this purpose, the present invention proposes a kind of wireless sensor network energy consumption control and rate adjustment method, and described method comprises:
S1、节点Vi向预设的数据管理中心上传自身的状态信息,并从预设的数据管理中心获取预设范围内所有节点的状态信息,得到状态信息表,所述状态信息表包括所述预设范围内所有节点的ID及对应的状态信息;S1. Node V i uploads its own state information to the preset data management center, and obtains the state information of all nodes within the preset range from the preset data management center, and obtains a state information table, and the state information table includes the IDs and corresponding status information of all nodes within the preset range;
S2、节点Vi根据目的节点ID的位置以及所述状态信息表,确定与所述目的节点的通信路径;S2. Node V determines a communication path with the destination node according to the location of the destination node ID and the state information table;
S3、节点Vi在接收到向所述目的节点发送消息的信号之后,根据节点传输速率、向目的节点传输数据包的大小以及所述通信路径,得到所述通信路径的能量消耗;S3. After node V i receives the signal to send a message to the destination node, it obtains the energy consumption of the communication path according to the node transmission rate, the size of the data packet transmitted to the destination node, and the communication path;
S4、节点Vi根据所述通信路径的能量消耗以及预设的网络正常工作所需求的传输速率,调整节点传输速率,以减少网络能量消耗。S4. The node V i adjusts the node transmission rate according to the energy consumption of the communication path and the preset transmission rate required for the normal operation of the network, so as to reduce the network energy consumption.
可选的,所述步骤S2,包括:Optionally, the step S2 includes:
节点Vi在接收到发送第一消息的信号之后,从所述第一消息中获取目的节点的ID,并根据所述状态信息表,选择下一跳节点Vi+1,并将所述第一消息发送到所述节点Vi+1,以使所述节点Vi+1根据所述第一消息,选择下一跳节点Vi+2,直至所述第一消息发送至目的节点。After node V i receives the signal to send the first message, it obtains the ID of the destination node from the first message, and selects the next-hop node V i+1 according to the state information table, and sends the A message is sent to the node V i+1 , so that the node V i+1 selects a next-hop node V i+2 according to the first message, until the first message is sent to the destination node.
可选的,在所述步骤S1中,所述状态信息,包括:通信连接关系。Optionally, in the step S1, the state information includes: communication connection relationship.
可选的,在所述步骤S2中,所述节点Vi在接收到发送第一消息的信号之后,从所述第一消息中获取目的节点的ID,并根据所述状态信息表,选择下一跳节点Vi+1,具体包括:Optionally, in the step S2, after the node V i receives the signal to send the first message, it obtains the ID of the destination node from the first message, and according to the state information table, selects the following One-hop node V i+1 specifically includes:
节点Vi在接收到发送第一消息的信号之后,从所述第一消息中获取目的节点的ID;After node V i receives the signal to send the first message, it obtains the ID of the destination node from the first message;
节点Vi根据所述状态信息表中的通信连接关系,确定邻居节点集合,所述邻居节点集合为节点Vi的下一跳节点的集合;The node V i determines a neighbor node set according to the communication connection relationship in the state information table, and the neighbor node set is a set of next-hop nodes of the node V i ;
节点Vi以预设最大发射功率向所述邻居节点集合中的所有节点广播第二消息,所述第二消息包括节点ID以及位置坐标;Node V broadcasts a second message to all nodes in the neighbor node set with a preset maximum transmission power, the second message includes node ID and position coordinates;
节点Vi在接收到第三消息之后,得到第三消息集合,所述第三消息为邻居节点集合中的节点发送的第三消息,所述第三消息包括节点ID、位置坐标及节点剩余能量;After node V i receives the third message, it obtains a third message set, the third message is the third message sent by the nodes in the neighbor node set, and the third message includes node ID, position coordinates and node residual energy ;
节点Vi根据所述第三消息集合,将满足预设条件的第三消息对应的节点选择为下一跳节点Vi+1。According to the third message set, the node V i selects the node corresponding to the third message satisfying the preset condition as the next-hop node V i+1 .
可选的,所述节点剩余能量通过以下步骤得到:Optionally, the node residual energy is obtained through the following steps:
根据预设初始能量及数据处理能耗,得到节点剩余能量,所述节点剩余能量=预设初始能量-数据处理能耗。According to the preset initial energy and data processing energy consumption, the node remaining energy is obtained, and the node remaining energy=preset initial energy−data processing energy consumption.
可选的,所述数据处理能耗通过以下步骤得到:Optionally, the data processing energy consumption is obtained through the following steps:
根据已转发数据的大小以及节点传输速率,确定数据处理时长;Determine the data processing time according to the size of the forwarded data and the node transmission rate;
根据已转发数据的大小以及预设的处理kbit数据的能耗E_elec,得到已转发数据消耗的能量,所述已转发数据消耗的能量=(E_elec)×(转发数据的大小/kbit);其中,k为预设值;According to the size of the forwarded data and the preset energy consumption E_elec for processing kbit data, the energy consumed by the forwarded data is obtained, and the energy consumed by the forwarded data=(E_elec)×(size of the forwarded data/kbit); wherein, k is the default value;
根据所述数据处理时长、预设的单位时间内放大器功放能耗E_amp,得到放大器功放能耗,所述放大器功放能耗=(E_amp)×数据处理时长;According to the data processing duration and the preset energy consumption E_amp of the amplifier power amplifier per unit time, the power consumption of the amplifier power amplifier is obtained, and the power consumption of the amplifier power amplifier=(E_amp)×data processing duration;
根据所述已转发数据消耗的能量及所述放大器功放能耗,得到数据处理能耗。Data processing energy consumption is obtained according to the energy consumed by the forwarded data and the energy consumption of the amplifier power amplifier.
可选的,所述节点Vi根据所述第三消息集合,将满足预设条件的第三消息对应的节点选择为下一跳节点Vi+1,具体包括:Optionally, according to the third message set, the node V i selects the node corresponding to the third message that meets the preset condition as the next-hop node V i+1 , specifically including:
节点Vi查看所述第三消息集合中的节点剩余能量,在确定所述第三消息中的节点剩余能量大于或等于预设节点能量值之后,则根据第三消息中的位置坐标,将第三消息对应的节点与节点Vi之间距离最短的节点选择为下一跳节点Vi+1。Node V i checks the node remaining energy in the third message set, and after determining that the node remaining energy in the third message is greater than or equal to the preset node energy value, according to the position coordinates in the third message, set the The node with the shortest distance between the nodes corresponding to the three messages and the node V i is selected as the next hop node V i+1 .
可选的,所述节点Vi根据所述第三消息集合,将满足预设条件的第三消息对应的节点选择为下一跳节点Vi+1的步骤之后,还包括以下步骤:Optionally, after the node V i selects the node corresponding to the third message that satisfies the preset condition as the next-hop node V i+1 according to the third message set, the following steps are further included:
节点Vi查看所述第三消息集合中的节点剩余能量,在确定所述第三消息集合中的节点剩余能量小于预设节点能量值之后,则将第三信息发送到预设的数据管理中心。Node V checks the node remaining energy in the third message set, and after determining that the node remaining energy in the third message set is less than the preset node energy value, sends the third information to the preset data management center .
可选的,所述步骤S3,包括:Optionally, the step S3 includes:
节点Vi在接收到向所述目的节点发送消息的信号之后,根据节点传输速率、向目的节点传输数据包的大小以及所述通信路径,计算所述通信路径中每个节点的数据处理能耗,并将每个节点的数据处理能耗求和得到所述通信路径的能量消耗。After node V i receives the signal to send a message to the destination node, calculate the data processing energy consumption of each node in the communication path according to the node transmission rate, the size of the data packet transmitted to the destination node, and the communication path , and sum the data processing energy consumption of each node to obtain the energy consumption of the communication path.
可选的,所述数据处理能耗通过以下步骤得到:Optionally, the data processing energy consumption is obtained through the following steps:
根据向目的节点传输数据包的大小以及节点传输速率,确定数据包处理时长;According to the size of the data packet transmitted to the destination node and the transmission rate of the node, determine the processing time of the data packet;
根据向目的节点传输数据包的大小以及预设的处理kbit数据的能耗E_elec,得到向目的节点传输数据包的能耗,所述向目的节点传输数据包的能耗=(E_elec)×(向目的节点传输数据包的大小/kbit);其中,k为预设值;According to the size of the data packet transmitted to the destination node and the preset energy consumption E_elec for processing kbit data, the energy consumption of the data packet transmitted to the destination node is obtained, and the energy consumption of the data packet transmitted to the destination node=(E_elec)×(to The size of the data packet transmitted by the destination node/kbit); wherein, k is a preset value;
根据所述数据包处理时长、预设的单位时间内放大器功放能耗E_amp,得到放大器功放能耗,所述放大器功放能耗=(E_amp)×数据包处理时长;According to the data packet processing duration and the preset power amplifier power consumption E_amp per unit time, the amplifier power amplifier energy consumption is obtained, and the amplifier power amplifier power consumption=(E_amp)×data packet processing duration;
根据所述向目的节点传输数据包的能耗及所述放大器功放能耗,得到数据处理能耗。Data processing energy consumption is obtained according to the energy consumption of transmitting data packets to the destination node and the energy consumption of the amplifier power amplifier.
相比于现有技术,本发明的无线传感器网络能耗控制及速率调整方法,可应用于基于WSN的高速铁路防灾监控系统,通过调整传输速率来延长节点使用寿命及无线传感器网络的生命周期,解决节点能量受限及更换电池不方便的问题,以提高无线传感器网络服务质量。Compared with the prior art, the wireless sensor network energy consumption control and rate adjustment method of the present invention can be applied to the high-speed railway disaster prevention monitoring system based on WSN, and the service life of the nodes and the life cycle of the wireless sensor network can be extended by adjusting the transmission rate , to solve the problem of limited node energy and inconvenient battery replacement, so as to improve the service quality of wireless sensor networks.
附图说明Description of drawings
图1示出了一种无线传感器网络能耗控制及速率调整方法流程图。Fig. 1 shows a flow chart of a method for energy consumption control and rate adjustment of a wireless sensor network.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
如图1所示,本实施例公开一种无线传感器网络能耗控制及速率调整方法,所述方法可包括:As shown in FIG. 1, this embodiment discloses a method for energy consumption control and rate adjustment of a wireless sensor network, the method may include:
S1、节点Vi向预设的数据管理中心上传自身的状态信息,并从预设的数据管理中心获取预设范围内所有节点的状态信息,得到状态信息表,所述状态信息表包括所述预设范围内所有节点的ID及对应的状态信息;S1. Node V i uploads its own state information to the preset data management center, and obtains the state information of all nodes within the preset range from the preset data management center, and obtains a state information table, and the state information table includes the IDs and corresponding status information of all nodes within the preset range;
S2、节点Vi根据目的节点ID的位置以及所述状态信息表,确定与所述目的节点的通信路径;S2. Node V determines a communication path with the destination node according to the location of the destination node ID and the state information table;
S3、节点Vi在接收到向所述目的节点发送消息的信号之后,根据节点传输速率、向目的节点传输数据包的大小以及所述通信路径,得到所述通信路径的能量消耗;S3. After node V i receives the signal to send a message to the destination node, it obtains the energy consumption of the communication path according to the node transmission rate, the size of the data packet transmitted to the destination node, and the communication path;
S4、节点Vi根据所述通信路径的能量消耗以及预设的网络正常工作所需求的传输速率,调整节点传输速率,以减少网络能量消耗。S4. The node V i adjusts the node transmission rate according to the energy consumption of the communication path and the preset transmission rate required for the normal operation of the network, so as to reduce the network energy consumption.
本实施例中,所述步骤S2,包括:In this embodiment, the step S2 includes:
节点Vi在接收到发送第一消息的信号之后,从所述第一消息中获取目的节点的ID,并根据所述状态信息表,选择下一跳节点Vi+1,并将所述第一消息发送到所述节点Vi+1,以使所述节点Vi+1根据所述第一消息,选择下一跳节点Vi+2,直至所述第一消息发送至目的节点。After node V i receives the signal to send the first message, it obtains the ID of the destination node from the first message, and selects the next-hop node V i+1 according to the state information table, and sends the A message is sent to the node V i+1 , so that the node V i+1 selects a next-hop node V i+2 according to the first message, until the first message is sent to the destination node.
本实施例中,在所述步骤S1中,所述状态信息,包括:通信连接关系。In this embodiment, in the step S1, the status information includes: communication connection relationship.
本实施例中,在所述步骤S2中,所述节点Vi在接收到发送第一消息的信号之后,从所述第一消息中获取目的节点的ID,并根据所述状态信息表,选择下一跳节点Vi+1,具体包括:In this embodiment, in the step S2, after the node V i receives the signal to send the first message, it obtains the ID of the destination node from the first message, and according to the state information table, selects The next hop node V i+1 specifically includes:
节点Vi在接收到发送第一消息的信号之后,从所述第一消息中获取目的节点的ID;After node V i receives the signal to send the first message, it obtains the ID of the destination node from the first message;
节点Vi根据所述状态信息表中的通信连接关系,确定邻居节点集合,所述邻居节点集合为节点Vi的下一跳节点的集合;The node V i determines a neighbor node set according to the communication connection relationship in the state information table, and the neighbor node set is a set of next-hop nodes of the node V i ;
节点Vi以预设最大发射功率向所述邻居节点集合中的所有节点广播第二消息,所述第二消息包括节点ID以及位置坐标;Node V broadcasts a second message to all nodes in the neighbor node set with a preset maximum transmission power, the second message includes node ID and position coordinates;
节点Vi在接收到第三消息之后,得到第三消息集合,所述第三消息为邻居节点集合中的节点发送的第三消息,所述第三消息包括节点ID、位置坐标及节点剩余能量;After node V i receives the third message, it obtains a third message set, the third message is the third message sent by the nodes in the neighbor node set, and the third message includes node ID, position coordinates and node residual energy ;
节点Vi根据所述第三消息集合,将满足预设条件的第三消息对应的节点选择为下一跳节点Vi+1。According to the third message set, the node V i selects the node corresponding to the third message satisfying the preset condition as the next-hop node V i+1 .
本实施例中,所述节点剩余能量通过以下步骤得到:In this embodiment, the remaining energy of the node is obtained through the following steps:
根据预设初始能量及数据处理能耗,得到节点剩余能量,所述节点剩余能量=预设初始能量-数据处理能耗。According to the preset initial energy and data processing energy consumption, the node remaining energy is obtained, and the node remaining energy=preset initial energy−data processing energy consumption.
本实施例中,所述数据处理能耗通过以下步骤得到:In this embodiment, the data processing energy consumption is obtained through the following steps:
根据已转发数据的大小以及节点传输速率,确定数据处理时长;Determine the data processing time according to the size of the forwarded data and the node transmission rate;
根据已转发数据的大小以及预设的处理kbit数据的能耗E_elec,得到已转发数据消耗的能量,所述已转发数据消耗的能量=(E_elec)×(转发数据的大小/kbit);其中,k为预设值;According to the size of the forwarded data and the preset energy consumption E_elec for processing kbit data, the energy consumed by the forwarded data is obtained, and the energy consumed by the forwarded data=(E_elec)×(size of the forwarded data/kbit); wherein, k is the default value;
根据所述数据处理时长、预设的单位时间内放大器功放能耗E_amp,得到放大器功放能耗,所述放大器功放能耗=(E_amp)×数据处理时长;According to the data processing duration and the preset energy consumption E_amp of the amplifier power amplifier per unit time, the power consumption of the amplifier power amplifier is obtained, and the power consumption of the amplifier power amplifier=(E_amp)×data processing duration;
根据所述已转发数据消耗的能量及所述放大器功放能耗,得到数据处理能耗。Data processing energy consumption is obtained according to the energy consumed by the forwarded data and the energy consumption of the amplifier power amplifier.
本实施例中,所述节点Vi根据所述第三消息集合,将满足预设条件的第三消息对应的节点选择为下一跳节点Vi+1,具体包括:In this embodiment, the node V i selects the node corresponding to the third message that satisfies the preset condition as the next-hop node V i+1 according to the third message set, specifically including:
节点Vi查看所述第三消息集合中的节点剩余能量,在确定所述第三消息中的节点剩余能量大于或等于预设节点能量值之后,则根据第三消息中的位置坐标,将第三消息对应的节点与节点Vi之间距离最短的节点选择为下一跳节点Vi+1。Node V i checks the node remaining energy in the third message set, and after determining that the node remaining energy in the third message is greater than or equal to the preset node energy value, according to the position coordinates in the third message, set the The node with the shortest distance between the nodes corresponding to the three messages and the node V i is selected as the next hop node V i+1 .
本实施例中,所述节点Vi根据所述第三消息集合,将满足预设条件的第三消息对应的节点选择为下一跳节点Vi+1的步骤之后,还包括以下步骤:In this embodiment, after the node V i selects the node corresponding to the third message satisfying the preset condition as the next-hop node V i+1 according to the third message set, the following steps are further included:
节点Vi查看所述第三消息集合中的节点剩余能量,在确定所述第三消息集合中的节点剩余能量小于预设节点能量值之后,则将第三信息发送到预设的数据管理中心,以便数据管理中心及时了解失效节点信息,对节点进行维护。Node V checks the node remaining energy in the third message set, and after determining that the node remaining energy in the third message set is less than the preset node energy value, sends the third information to the preset data management center , so that the data management center can keep abreast of the failure node information and maintain the node.
本实施例中,所述步骤S3,包括:In this embodiment, the step S3 includes:
节点Vi在接收到向所述目的节点发送消息的信号之后,根据节点传输速率、向目的节点传输数据包的大小以及所述通信路径,计算所述通信路径中每个节点的数据处理能耗,并将每个节点的数据处理能耗求和得到所述通信路径的能量消耗。After node V i receives the signal to send a message to the destination node, calculate the data processing energy consumption of each node in the communication path according to the node transmission rate, the size of the data packet transmitted to the destination node, and the communication path , and sum the data processing energy consumption of each node to obtain the energy consumption of the communication path.
本实施例中,所述数据处理能耗通过以下步骤得到:In this embodiment, the data processing energy consumption is obtained through the following steps:
根据向目的节点传输数据包的大小以及节点传输速率,确定数据包处理时长;According to the size of the data packet transmitted to the destination node and the transmission rate of the node, determine the processing time of the data packet;
根据向目的节点传输数据包的大小以及预设的处理kbit数据的能耗E_elec,得到向目的节点传输数据包的能耗,所述向目的节点传输数据包的能耗=(E_elec)×(向目的节点传输数据包的大小/kbit);其中,k为预设值;According to the size of the data packet transmitted to the destination node and the preset energy consumption E_elec for processing kbit data, the energy consumption of the data packet transmitted to the destination node is obtained, and the energy consumption of the data packet transmitted to the destination node=(E_elec)×(to The size of the data packet transmitted by the destination node/kbit); wherein, k is a preset value;
根据所述数据包处理时长、预设的单位时间内放大器功放能耗E_amp,得到放大器功放能耗,所述放大器功放能耗=(E_amp)×数据包处理时长;According to the data packet processing duration and the preset power amplifier power consumption E_amp per unit time, the amplifier power amplifier energy consumption is obtained, and the amplifier power amplifier power consumption=(E_amp)×data packet processing duration;
根据所述向目的节点传输数据包的能耗及所述放大器功放能耗,得到数据处理能耗。Data processing energy consumption is obtained according to the energy consumption of transmitting data packets to the destination node and the energy consumption of the amplifier power amplifier.
实施例中的无线传感器网络能耗控制及速率调整方法用于解决由自身所携带的有限的传感器节点组成的无线传感器网络的能量消耗问题以及节点能耗问题,属于无线传感器网络控制技术领域。通过对无线传感器网络节点传输速率进行控制,使整个无线传感器网络在规定跳数范围(即无线传感器网络预设的跳数范围)内保持连通状态的同时,使无线传感器网络能耗最小。该能耗控制系统不仅可用于对无线传感器网络的能耗控制、无线传感器网络协议算法的验证和改进、节点的部署设计,也可用作未来服务质量进行在线评估,具有很好的推广应用前景。The wireless sensor network energy consumption control and rate adjustment method in the embodiment is used to solve the energy consumption problem of the wireless sensor network composed of limited sensor nodes carried by itself and the node energy consumption problem, and belongs to the field of wireless sensor network control technology. By controlling the transmission rate of wireless sensor network nodes, the entire wireless sensor network can be kept connected within the specified hop range (that is, the preset hop range of the wireless sensor network), and at the same time, the energy consumption of the wireless sensor network can be minimized. The energy consumption control system can not only be used for energy consumption control of wireless sensor networks, verification and improvement of wireless sensor network protocol algorithms, node deployment design, but also can be used for online evaluation of future service quality, which has a good prospect for promotion and application .
虽然结合附图描述了本发明的实施方式,但是本领域技术人员可以在不脱离本发明的精神和范围的情况下做出各种修改和变型,这样的修改和变型均落入由所附权利要求所限定的范围之内。Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention. within the bounds of the requirements.
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